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<li class="navelem"><a class="el" href="dir_c1698e121239b1aba7f6e782e4514e49.html">cFS</a></li><li class="navelem"><a class="el" href="dir_7ee4ce95da95d11e80a01c5101ed8d14.html">apps</a></li><li class="navelem"><a class="el" href="dir_414860549fe1f5475bcb32699266eda6.html">port_lib</a></li><li class="navelem"><a class="el" href="dir_96eb22f570806912b0c00e39297e594c.html">fsw</a></li><li class="navelem"><a class="el" href="dir_177fe1f9cf5443c270b5fea5afe4fbfe.html">public_inc</a></li><li class="navelem"><a class="el" href="dir_21e8b98476f1332e3b94242d590432e6.html">mavlink</a></li>  </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;string.h&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;mavlink_types.h&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">/* </span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">   If you want MAVLink on a system that is native big-endian,</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">   you need to define NATIVE_BIG_ENDIAN</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifdef NATIVE_BIG_ENDIAN</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor"># define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor"># define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#ifndef MAVLINK_STACK_BUFFER</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#define MAVLINK_STACK_BUFFER 0</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#ifndef MAVLINK_AVOID_GCC_STACK_BUG</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor"># define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#ifndef MAVLINK_ASSERT</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#define MAVLINK_ASSERT(x)</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#ifndef MAVLINK_START_UART_SEND</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#define MAVLINK_START_UART_SEND(chan, length)</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#ifndef MAVLINK_END_UART_SEND</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#define MAVLINK_END_UART_SEND(chan, length)</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">/* option to provide alternative implementation of mavlink_helpers.h */</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifdef MAVLINK_SEPARATE_HELPERS</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">    #define MAVLINK_HELPER</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="comment">/* decls in sync with those in mavlink_helpers.h */</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">    #ifndef MAVLINK_GET_CHANNEL_STATUS</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    MAVLINK_HELPER <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* mavlink_get_channel_status(uint8_t chan);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">    #endif</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    MAVLINK_HELPER <span class="keywordtype">void</span> mavlink_reset_channel_status(uint8_t chan);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                                                          uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                                                     uint8_t min_length, uint8_t length, uint8_t crc_extra);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">    #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    MAVLINK_HELPER <span class="keywordtype">void</span> _mav_finalize_message_chan_send(mavlink_channel_t chan, uint32_t msgid, <span class="keyword">const</span> <span class="keywordtype">char</span> *packet,</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                                                        uint8_t min_length, uint8_t length, uint8_t crc_extra);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">    #endif</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, <span class="keyword">const</span> mavlink_message_t *msg);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    MAVLINK_HELPER <span class="keywordtype">void</span> mavlink_start_checksum(mavlink_message_t* msg);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    MAVLINK_HELPER <span class="keywordtype">void</span> mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg, </div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                             <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* status,</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                             uint8_t c, </div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                             mavlink_message_t* r_message, </div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                             <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* r_mavlink_status);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* r_mavlink_status);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>* r_mavlink_status);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index,</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                               uint8_t* r_bit_index, uint8_t* buffer);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    MAVLINK_HELPER <span class="keyword">const</span> <a class="code" href="struct____mavlink__msg__entry.html">mavlink_msg_entry_t</a> *mavlink_get_msg_entry(uint32_t msgid);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">    #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    MAVLINK_HELPER <span class="keywordtype">void</span> _mavlink_send_uart(mavlink_channel_t chan, <span class="keyword">const</span> <span class="keywordtype">char</span> *buf, uint16_t len);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    MAVLINK_HELPER <span class="keywordtype">void</span> _mavlink_resend_uart(mavlink_channel_t chan, <span class="keyword">const</span> mavlink_message_t *msg);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">    #endif</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">    #define MAVLINK_HELPER static inline</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="preprocessor">    #include &quot;mavlink_helpers.h&quot;</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="preprocessor">#endif // MAVLINK_SEPARATE_HELPERS</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint16_t mavlink_msg_get_send_buffer_length(<span class="keyword">const</span> mavlink_message_t* msg)</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;{</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordflow">if</span> (msg-&gt;magic == MAVLINK_STX_MAVLINK1) {</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordflow">return</span> msg-&gt;len + MAVLINK_CORE_HEADER_MAVLINK1_LEN+1 + 2;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    }</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        uint16_t signature_len = (msg-&gt;incompat_flags &amp; MAVLINK_IFLAG_SIGNED)?MAVLINK_SIGNATURE_BLOCK_LEN:0;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span> msg-&gt;len + MAVLINK_NUM_NON_PAYLOAD_BYTES + signature_len;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> byte_swap_2(<span class="keywordtype">char</span> *dst, <span class="keyword">const</span> <span class="keywordtype">char</span> *src)</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;{</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    dst[0] = src[1];</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    dst[1] = src[0];</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;}</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> byte_swap_4(<span class="keywordtype">char</span> *dst, <span class="keyword">const</span> <span class="keywordtype">char</span> *src)</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;{</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    dst[0] = src[3];</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    dst[1] = src[2];</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    dst[2] = src[1];</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    dst[3] = src[0];</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;}</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> byte_swap_8(<span class="keywordtype">char</span> *dst, <span class="keyword">const</span> <span class="keywordtype">char</span> *src)</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;{</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    dst[0] = src[7];</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    dst[1] = src[6];</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    dst[2] = src[5];</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    dst[3] = src[4];</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    dst[4] = src[3];</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    dst[5] = src[2];</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    dst[6] = src[1];</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    dst[7] = src[0];</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;}</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="preprocessor">#elif !MAVLINK_ALIGNED_FIELDS</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> byte_copy_2(<span class="keywordtype">char</span> *dst, <span class="keyword">const</span> <span class="keywordtype">char</span> *src)</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;{</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    dst[0] = src[0];</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    dst[1] = src[1];</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;}</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> byte_copy_4(<span class="keywordtype">char</span> *dst, <span class="keyword">const</span> <span class="keywordtype">char</span> *src)</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;{</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    dst[0] = src[0];</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    dst[1] = src[1];</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    dst[2] = src[2];</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    dst[3] = src[3];</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> byte_copy_8(<span class="keywordtype">char</span> *dst, <span class="keyword">const</span> <span class="keywordtype">char</span> *src)</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;{</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    memcpy(dst, src, 8);</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;}</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="preprocessor">#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#define _mav_put_int8_t(buf, wire_offset, b)  buf[wire_offset] = (int8_t)b</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="preprocessor">#define _mav_put_char(buf, wire_offset, b)    buf[wire_offset] = b</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="preprocessor">#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="preprocessor">#define _mav_put_int16_t(buf, wire_offset, b)  byte_swap_2(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="preprocessor">#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="preprocessor">#define _mav_put_int32_t(buf, wire_offset, b)  byte_swap_4(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="preprocessor">#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="preprocessor">#define _mav_put_int64_t(buf, wire_offset, b)  byte_swap_8(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="preprocessor">#define _mav_put_float(buf, wire_offset, b)    byte_swap_4(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="preprocessor">#define _mav_put_double(buf, wire_offset, b)   byte_swap_8(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="preprocessor">#elif !MAVLINK_ALIGNED_FIELDS</span></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="preprocessor">#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="preprocessor">#define _mav_put_int16_t(buf, wire_offset, b)  byte_copy_2(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="preprocessor">#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="preprocessor">#define _mav_put_int32_t(buf, wire_offset, b)  byte_copy_4(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="preprocessor">#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="preprocessor">#define _mav_put_int64_t(buf, wire_offset, b)  byte_copy_8(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="preprocessor">#define _mav_put_float(buf, wire_offset, b)    byte_copy_4(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="preprocessor">#define _mav_put_double(buf, wire_offset, b)   byte_copy_8(&amp;buf[wire_offset], (const char *)&amp;b)</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="preprocessor">#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&amp;buf[wire_offset] = b</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="preprocessor">#define _mav_put_int16_t(buf, wire_offset, b)  *(int16_t *)&amp;buf[wire_offset] = b</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="preprocessor">#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&amp;buf[wire_offset] = b</span></div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="preprocessor">#define _mav_put_int32_t(buf, wire_offset, b)  *(int32_t *)&amp;buf[wire_offset] = b</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="preprocessor">#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&amp;buf[wire_offset] = b</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="preprocessor">#define _mav_put_int64_t(buf, wire_offset, b)  *(int64_t *)&amp;buf[wire_offset] = b</span></div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="preprocessor">#define _mav_put_float(buf, wire_offset, b)    *(float *)&amp;buf[wire_offset] = b</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="preprocessor">#define _mav_put_double(buf, wire_offset, b)   *(double *)&amp;buf[wire_offset] = b</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="comment">  like memcpy(), but if src is NULL, do a memset to zero</span></div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> mav_array_memcpy(<span class="keywordtype">void</span> *dest, <span class="keyword">const</span> <span class="keywordtype">void</span> *src, <span class="keywordtype">size_t</span> n)</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;{</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">if</span> (src == NULL) {</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        memset(dest, 0, n);</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        memcpy(dest, src, n);</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    }</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;}</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="comment"> * Place a char array into a buffer</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> _mav_put_char_array(<span class="keywordtype">char</span> *buf, uint8_t wire_offset, <span class="keyword">const</span> <span class="keywordtype">char</span> *b, uint8_t array_length)</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;{</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    mav_array_memcpy(&amp;buf[wire_offset], b, array_length);</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;}</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment"> * Place a uint8_t array into a buffer</span></div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> _mav_put_uint8_t_array(<span class="keywordtype">char</span> *buf, uint8_t wire_offset, <span class="keyword">const</span> uint8_t *b, uint8_t array_length)</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;{</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    mav_array_memcpy(&amp;buf[wire_offset], b, array_length);</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;}</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="comment"> * Place a int8_t array into a buffer</span></div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> _mav_put_int8_t_array(<span class="keywordtype">char</span> *buf, uint8_t wire_offset, <span class="keyword">const</span> int8_t *b, uint8_t array_length)</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;{</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    mav_array_memcpy(&amp;buf[wire_offset], b, array_length);</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;}</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP</span></div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="preprocessor">#define _MAV_PUT_ARRAY(TYPE, V) \</span></div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="preprocessor">static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \</span></div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="preprocessor">{ \</span></div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="preprocessor">    if (b == NULL) { \</span></div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="preprocessor">        memset(&amp;buf[wire_offset], 0, array_length*sizeof(TYPE)); \</span></div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="preprocessor">    } else { \</span></div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="preprocessor">        uint16_t i; \</span></div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">        for (i=0; i&lt;array_length; i++) { \</span></div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="preprocessor">            _mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \</span></div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="preprocessor">        } \</span></div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="preprocessor">    } \</span></div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="preprocessor">}</span></div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="preprocessor">#define _MAV_PUT_ARRAY(TYPE, V)                 \</span></div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="preprocessor">static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \</span></div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="preprocessor">{ \</span></div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="preprocessor">    mav_array_memcpy(&amp;buf[wire_offset], b, array_length*sizeof(TYPE)); \</span></div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="preprocessor">}</span></div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;_MAV_PUT_ARRAY(uint16_t, u16)</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;_MAV_PUT_ARRAY(uint32_t, u32)</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;_MAV_PUT_ARRAY(uint64_t, u64)</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;_MAV_PUT_ARRAY(int16_t,  i16)</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;_MAV_PUT_ARRAY(int32_t,  i32)</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;_MAV_PUT_ARRAY(int64_t,  i64)</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;_MAV_PUT_ARRAY(<span class="keywordtype">float</span>,    f)</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;_MAV_PUT_ARRAY(<span class="keywordtype">double</span>,   d)</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="preprocessor">#define _MAV_RETURN_char(msg, wire_offset)             (const char)_MAV_PAYLOAD(msg)[wire_offset]</span></div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="preprocessor">#define _MAV_RETURN_int8_t(msg, wire_offset)   (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]</span></div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="preprocessor">#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]</span></div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP</span></div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="preprocessor">#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \</span></div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="preprocessor">static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \</span></div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="preprocessor">{ TYPE r; byte_swap_## SIZE((char*)&amp;r, &amp;_MAV_PAYLOAD(msg)[ofs]); return r; }</span></div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;_MAV_MSG_RETURN_TYPE(uint16_t, 2)</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;_MAV_MSG_RETURN_TYPE(int16_t,  2)</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;_MAV_MSG_RETURN_TYPE(uint32_t, 4)</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;_MAV_MSG_RETURN_TYPE(int32_t,  4)</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;_MAV_MSG_RETURN_TYPE(uint64_t, 8)</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;_MAV_MSG_RETURN_TYPE(int64_t,  8)</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;_MAV_MSG_RETURN_TYPE(<span class="keywordtype">float</span>,    4)</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;_MAV_MSG_RETURN_TYPE(<span class="keywordtype">double</span>,   8)</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="preprocessor">#elif !MAVLINK_ALIGNED_FIELDS</span></div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="preprocessor">#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \</span></div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="preprocessor">static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \</span></div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="preprocessor">{ TYPE r; byte_copy_## SIZE((char*)&amp;r, &amp;_MAV_PAYLOAD(msg)[ofs]); return r; }</span></div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;_MAV_MSG_RETURN_TYPE(uint16_t, 2)</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;_MAV_MSG_RETURN_TYPE(int16_t,  2)</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;_MAV_MSG_RETURN_TYPE(uint32_t, 4)</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;_MAV_MSG_RETURN_TYPE(int32_t,  4)</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;_MAV_MSG_RETURN_TYPE(uint64_t, 8)</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;_MAV_MSG_RETURN_TYPE(int64_t,  8)</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;_MAV_MSG_RETURN_TYPE(<span class="keywordtype">float</span>,    4)</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;_MAV_MSG_RETURN_TYPE(<span class="keywordtype">double</span>,   8)</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="preprocessor">#else // nicely aligned, no swap</span></div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="preprocessor">#define _MAV_MSG_RETURN_TYPE(TYPE) \</span></div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<span class="preprocessor">static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \</span></div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="preprocessor">{ return *(const TYPE *)(&amp;_MAV_PAYLOAD(msg)[ofs]);}</span></div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;_MAV_MSG_RETURN_TYPE(uint16_t)</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;_MAV_MSG_RETURN_TYPE(int16_t)</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;_MAV_MSG_RETURN_TYPE(uint32_t)</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;_MAV_MSG_RETURN_TYPE(int32_t)</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;_MAV_MSG_RETURN_TYPE(uint64_t)</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;_MAV_MSG_RETURN_TYPE(int64_t)</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;_MAV_MSG_RETURN_TYPE(<span class="keywordtype">float</span>)</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;_MAV_MSG_RETURN_TYPE(<span class="keywordtype">double</span>)</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="preprocessor">#endif // MAVLINK_NEED_BYTE_SWAP</span></div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint16_t _MAV_RETURN_char_array(<span class="keyword">const</span> mavlink_message_t *msg, <span class="keywordtype">char</span> *value, </div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;                             uint8_t array_length, uint8_t wire_offset)</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;{</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    memcpy(value, &amp;_MAV_PAYLOAD(msg)[wire_offset], array_length);</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="keywordflow">return</span> array_length;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;}</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint16_t _MAV_RETURN_uint8_t_array(<span class="keyword">const</span> mavlink_message_t *msg, uint8_t *value, </div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                            uint8_t array_length, uint8_t wire_offset)</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;{</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    memcpy(value, &amp;_MAV_PAYLOAD(msg)[wire_offset], array_length);</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keywordflow">return</span> array_length;</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;}</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> uint16_t _MAV_RETURN_int8_t_array(<span class="keyword">const</span> mavlink_message_t *msg, int8_t *value, </div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                               uint8_t array_length, uint8_t wire_offset)</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;{</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    memcpy(value, &amp;_MAV_PAYLOAD(msg)[wire_offset], array_length);</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keywordflow">return</span> array_length;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;}</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="preprocessor">#if MAVLINK_NEED_BYTE_SWAP</span></div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="preprocessor">#define _MAV_RETURN_ARRAY(TYPE, V) \</span></div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="preprocessor">static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \</span></div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="preprocessor">                             uint8_t array_length, uint8_t wire_offset) \</span></div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="preprocessor">{ \</span></div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="preprocessor">    uint16_t i; \</span></div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="preprocessor">    for (i=0; i&lt;array_length; i++) { \</span></div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<span class="preprocessor">        value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \</span></div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="preprocessor">    } \</span></div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="preprocessor">    return array_length*sizeof(value[0]); \</span></div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="preprocessor">}</span></div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="preprocessor">#define _MAV_RETURN_ARRAY(TYPE, V)                  \</span></div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="preprocessor">static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \</span></div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="preprocessor">                             uint8_t array_length, uint8_t wire_offset) \</span></div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="preprocessor">{ \</span></div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="preprocessor">    memcpy(value, &amp;_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \</span></div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="preprocessor">    return array_length*sizeof(TYPE); \</span></div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="preprocessor">}</span></div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;_MAV_RETURN_ARRAY(uint16_t, u16)</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;_MAV_RETURN_ARRAY(uint32_t, u32)</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;_MAV_RETURN_ARRAY(uint64_t, u64)</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;_MAV_RETURN_ARRAY(int16_t,  i16)</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;_MAV_RETURN_ARRAY(int32_t,  i32)</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;_MAV_RETURN_ARRAY(int64_t,  i64)</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;_MAV_RETURN_ARRAY(<span class="keywordtype">float</span>,    f)</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;_MAV_RETURN_ARRAY(<span class="keywordtype">double</span>,   d)</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;</div><div class="ttc" id="struct____mavlink__status_html"><div class="ttname"><a href="struct____mavlink__status.html">__mavlink_status</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:217</div></div>
<div class="ttc" id="struct____mavlink__msg__entry_html"><div class="ttname"><a href="struct____mavlink__msg__entry.html">__mavlink_msg_entry</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:281</div></div>
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